Mathematical modeling and parameters identification of the mechatronical system used in the constructed hexapod robot

Abstract

We present both design and test results of the servodrive (electric motor and its control system) used in the constructed hexapod-type walking robot. We are aimed on the construction analysis of the servo, modeling and functioning of the electronic feedback action in the applied type of the engine. The carried out research also includes a block diagram presenting working scheme of the used servo. In particular, we describe a control method of eight servodrives using only one control signal. The obtained results present the relationship between the current used by the system and the value of a specified torque generated by each servodrive. We illustrate and discuss the accuracy of the positioning of the particular drive depending on the applied dynamic load. The obtained results supported by analysis of the gait of the biologically inspired six-legged walking robot (Geotrupes stercorarius) allow to preliminary determination of the average energy required to realize given robot tasks. In addition, the maximum speed and the permissible load for the gait of the hexapod as well as the repeatability of the individual steps performance during the movement of the robot are also estimated.